version: 66.07.10.p01
glider: 573
mission: 12
dive: 509
start: 11 15 115 9 35 30
data:
$ID,573
$MISSION,12
$DIVE,509
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,390
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53040
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,800
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22584.186
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3184
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,1950
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.994217
$PRESSURE_SLOPE,0.00011693723
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,163
$DEVICE4,135
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,0
$GC_LAST_COLLECTION,508
$GPS1,151115,092704,-4457.200,623.305,31,1.1,31,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-68.7
$GPS2,151115,093510,-4457.222,623.401,16,1.4,16,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,43.6,2396,-27.7,-8.547
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.09,-49.9,0.0,0.0,0,48,0.00,0.00,-19.77,0.000,2,0.000,0.000,68,2073,1516,0,0,0,0,0,0
$GC,51,-1.13,-111.9,3.1,-1.4,3,109,11.43,2.33,-39.62,0.000,4,0.233,0.067,2814,654,2407,0,0,0,0,0,0
$GC,126,-1.05,-116.8,5.7,-6.2,14,134,0.10,2.30,-0.45,0.000,6,0.174,0.046,2836,2053,2424,0,0,0,0,0,0
$GC,186,-1.05,-116.8,14.4,-15.6,23,192,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2053,2426,0,0,0,0,0,0
$GC,244,-1.05,-116.8,23.2,-14.5,32,251,0.00,2.30,0.00,0.000,4,0.000,0.054,2837,670,2426,0,0,0,0,0,0
$GC,296,-1.05,-116.8,31.7,-16.6,40,304,0.03,2.25,0.00,0.000,6,0.210,0.041,2836,2062,2426,0,0,0,0,0,0
$GC,447,-1.08,-116.8,55.9,-15.8,65,452,0.00,2.33,0.00,0.000,4,0.000,0.067,2826,3469,2426,0,0,0,0,0,0
$GC,470,-1.08,-116.8,60.1,-16.5,69,477,0.00,2.25,0.00,0.000,6,0.000,0.044,2826,2073,2426,0,0,0,0,0,0
$GC,799,-1.08,-116.8,114.2,-16.3,100,804,0.00,2.30,0.00,0.000,4,0.000,0.055,2826,644,2426,0,0,0,0,0,0
$GC,889,-1.08,-116.8,130.3,-17.8,104,894,0.03,2.28,0.00,0.000,6,0.206,0.041,2825,2060,2426,0,0,0,0,0,0
$GC,1217,-1.12,-116.8,182.7,-15.8,120,1221,0.00,2.30,0.00,0.000,4,0.000,0.064,2814,3463,2427,0,0,0,0,0,0
$GC,1345,-1.12,-116.8,203.6,-15.8,125,1351,0.00,2.22,0.00,0.000,6,0.000,0.042,2814,2061,2427,0,0,0,0,0,0
$GC,1664,-1.12,-116.8,252.8,-15.8,141,1668,0.00,2.25,0.00,0.000,4,0.000,0.055,2814,655,2427,0,0,0,0,0,0
$GC,1713,-1.12,-116.8,261.1,-15.5,143,1718,0.08,2.25,0.00,0.000,6,0.221,0.044,2821,2057,2427,0,0,0,0,0,0
$GC,2035,-1.16,-116.8,309.8,-15.2,159,2039,0.00,2.30,0.00,0.000,4,0.000,0.063,2811,3463,2427,0,0,0,0,0,0
$GC,2085,-1.16,-116.8,318.0,-15.3,161,2089,0.00,2.22,0.00,0.000,6,0.000,0.042,2811,2061,2427,0,0,0,0,0,0
$GC,2407,-1.16,-116.8,366.9,-14.9,177,2411,0.00,2.25,0.00,0.000,4,0.000,0.056,2811,650,2427,0,0,0,0,0,0
$GC,2450,-1.16,-116.8,374.0,-15.6,179,2454,0.00,2.25,0.00,0.000,6,0.000,0.044,2802,2053,2427,0,0,0,0,0,0
$GC,2778,-1.16,-116.8,421.1,-14.2,195,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2053,2427,0,0,0,0,0,0
$GC,3087,-1.16,-116.8,464.0,-14.3,210,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2053,2427,0,0,0,0,0,0
$GC,3396,-1.16,-116.8,506.9,-13.8,225,3400,0.00,2.30,0.00,0.000,4,0.000,0.060,2791,3472,2427,0,0,0,0,0,0
$GC,3436,-1.16,-116.8,512.4,-13.7,227,3441,0.08,2.25,0.00,0.000,6,0.200,0.045,2807,2049,2427,0,0,0,0,0,0
$GC,3765,-1.19,-116.8,556.9,-14.1,243,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2049,2427,0,0,0,0,0,0
$GC,4071,-1.23,-116.8,601.4,-14.6,258,4075,0.00,2.25,0.00,0.000,4,0.000,0.057,2808,657,2427,0,0,0,0,0,0
$GC,4126,-1.23,-116.8,609.6,-14.4,260,4131,0.00,2.25,0.00,0.000,6,0.000,0.042,2799,2060,2427,0,0,0,0,0,0
$GC,4441,-1.23,-116.8,654.2,-14.0,276,4445,0.00,2.33,0.00,0.000,4,0.000,0.057,2799,647,2427,0,0,0,0,0,0
$GC,4473,-1.23,-116.8,658.9,-14.8,277,4478,0.00,2.28,0.00,0.000,6,0.000,0.045,2790,2057,2428,0,0,0,0,0,0
$GC,4789,-1.23,-116.8,704.5,-14.2,293,4794,0.00,2.30,0.00,0.000,4,0.000,0.065,2780,3474,2427,0,0,0,0,0,0
$GC,4875,-1.23,-116.8,716.9,-14.6,297,4878,0.00,2.25,0.00,0.000,6,0.000,0.046,2780,2053,2427,0,0,0,0,0,0
$GC,5207,-1.23,-116.8,763.9,-14.2,313,5211,0.00,2.28,0.00,0.000,4,0.000,0.059,2779,654,2427,0,0,0,0,0,0
$GC,5239,-1.19,-116.8,768.9,-15.5,314,5244,0.12,2.28,0.00,0.000,6,0.200,0.046,2800,2072,2428,0,0,0,0,0,0
$GC,5556,-1.22,-116.8,811.7,-13.4,329,5560,0.00,2.28,0.00,0.000,4,0.000,0.060,2789,3474,2427,0,0,0,0,0,0
$GC,5605,-1.22,-116.8,818.9,-13.7,331,5609,0.00,2.28,0.00,0.000,6,0.000,0.046,2790,2057,2427,0,0,0,0,0,0
$GC,5927,-1.22,-116.8,860.8,-13.0,347,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2057,2426,0,0,0,0,0,0
$GC,6235,-1.22,-116.8,901.3,-12.8,362,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2057,2426,0,0,0,0,0,0
$GC,6545,-1.22,-116.8,939.9,-12.2,377,6549,0.00,2.28,0.00,0.000,4,0.000,0.058,2790,649,2426,0,0,0,0,0,0
$GC,6578,-1.22,-116.8,944.4,-13.0,378,6583,0.00,2.28,0.00,0.000,6,0.000,0.047,2781,2050,2425,0,0,0,0,0,0
$GC,6893,-1.22,-116.8,984.3,-12.6,394,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2050,2425,0,0,0,0,0,0
$STATE,7037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7037,begin apogee
$GC,7043,-0.19,0.0,1002.1,12.2,401,7158,1.17,0.00,110.70,1.258,6,0.159,0.000,3116,1595,1950,0,0,0,0,0,0
$STATE,7159,end apogee,CONTROL_FINISHED_OK
$STATE,7159,begin climb
$GC,7161,1.13,116.8,1005.3,0.0,407,7289,1.30,2.53,118.25,1.216,4,0.084,0.054,3557,202,1474,0,0,0,0,0,0
$GC,7362,1.17,116.8,982.9,16.1,416,7367,0.00,2.40,0.00,0.000,6,0.000,0.035,3557,1618,1469,0,0,0,0,0,0
$GC,7678,1.23,116.8,935.9,14.8,432,7683,0.08,2.40,0.00,0.000,4,0.123,0.053,3606,194,1466,0,0,0,0,0,0
$GC,7756,1.17,116.8,922.5,17.3,435,7761,0.15,2.25,0.00,0.000,6,0.167,0.037,3567,1600,1465,0,0,0,0,0,0
$GC,8072,1.21,116.8,875.9,14.9,451,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1599,1464,0,0,0,0,0,0
$GC,8380,1.26,116.8,832.4,13.8,466,8382,0.05,0.00,0.00,0.000,6,0.168,0.000,3599,1600,1464,0,0,0,0,0,0
$GC,8691,1.26,116.8,786.8,14.7,481,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1600,1464,0,0,0,0,0,0
$GC,8998,1.26,116.8,742.2,14.7,496,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1600,1463,0,0,0,0,0,0
$GC,9309,1.26,116.8,696.7,15.0,511,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1600,1463,0,0,0,0,0,0
$GC,9617,1.26,116.8,650.0,15.4,526,9618,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1600,1463,0,0,0,0,0,0
$GC,9928,1.26,116.8,603.6,14.8,541,9932,0.00,2.30,0.00,0.000,4,0.000,0.054,3609,198,1463,0,0,0,0,0,0
$GC,10022,1.20,116.8,588.8,16.0,545,10027,0.15,2.20,0.00,0.000,6,0.168,0.037,3570,1602,1462,0,0,0,0,0,0
$GC,10338,1.25,116.8,547.5,12.3,560,10342,0.00,2.22,0.00,0.000,4,0.000,0.056,3570,2998,1462,0,0,0,0,0,0
$GC,10401,1.28,116.8,539.0,13.4,563,10406,0.00,2.17,0.00,0.000,6,0.000,0.036,3578,1596,1462,0,0,0,0,0,0
$GC,10729,1.32,116.8,495.7,12.8,579,10734,0.10,2.25,0.00,0.000,4,0.101,0.054,3634,192,1462,0,0,0,0,0,0
$GC,10853,1.23,116.8,477.0,15.0,584,10859,0.20,2.20,0.00,0.000,6,0.174,0.037,3580,1603,1461,0,0,0,0,0,0
$GC,11168,1.27,116.8,436.8,12.9,600,11172,0.00,2.28,0.00,0.000,4,0.000,0.053,3590,196,1462,0,0,0,0,0,0
$GC,11205,1.27,116.8,431.7,13.4,601,11210,0.00,2.22,0.00,0.000,6,0.000,0.037,3590,1602,1461,0,0,0,0,0,0
$GC,11522,1.27,116.8,390.7,13.5,617,11526,0.00,2.30,0.00,0.000,4,0.000,0.052,3600,192,1461,0,0,0,0,0,0
$GC,11593,1.27,116.8,380.8,13.9,620,11597,0.00,2.22,0.00,0.000,6,0.000,0.037,3599,1603,1461,0,0,0,0,0,0
$GC,11914,1.27,116.8,336.8,14.1,636,11918,0.00,2.30,0.00,0.000,4,0.000,0.052,3608,192,1461,0,0,0,0,0,0
$GC,12025,1.23,116.8,320.3,15.9,641,12030,0.10,2.17,0.00,0.000,6,0.187,0.036,3584,1600,1460,0,0,0,0,0,0
$GC,12351,1.26,116.8,277.3,13.5,657,12353,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1600,1460,0,0,0,0,0,0
$GC,12656,1.30,116.8,237.9,12.4,672,12660,0.00,2.22,0.00,0.000,4,0.000,0.054,3583,3000,1460,0,0,0,0,0,0
$GC,12722,1.30,116.8,229.6,13.2,675,12726,0.00,2.17,0.00,0.000,6,0.000,0.036,3592,1594,1460,0,0,0,0,0,0
$GC,13050,1.30,116.8,186.2,13.2,691,13052,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1594,1460,0,0,0,0,0,0
$GC,13358,1.30,116.8,148.2,12.5,706,13362,0.00,2.25,0.00,0.000,4,0.000,0.054,3603,199,1460,0,0,0,0,0,0
$GC,13463,1.30,116.8,134.1,12.7,710,13471,0.00,2.22,0.00,0.000,6,0.000,0.038,3602,1607,1460,0,0,0,0,0,0
$GC,13780,1.30,116.8,96.8,12.0,726,13784,0.00,2.20,0.00,0.000,4,0.000,0.053,3603,2998,1460,0,0,0,0,0,0
$GC,13869,1.30,116.8,85.8,12.4,730,13873,0.00,2.17,0.00,0.000,6,0.000,0.035,3611,1602,1460,0,0,0,0,0,0
$GC,14213,1.30,116.8,41.6,11.3,783,14220,0.00,2.30,0.00,0.000,4,0.000,0.054,3622,195,1460,0,0,0,0,0,0
$GC,14407,1.24,116.8,12.9,14.3,814,14415,0.10,2.22,0.00,0.000,6,0.161,0.036,3590,1604,1460,0,0,0,0,0,0
$GC,14466,1.27,116.8,4.4,16.0,823,14474,0.00,2.25,0.00,0.000,4,0.000,0.053,3590,2996,1461,0,0,0,0,0,0
$STATE,14481,end climb,SURFACE_DEPTH_REACHED
$STATE,14481,begin surface coast
$FINISH,1.9,1.023394
$STATE,14501,end surface coast,CONTROL_FINISHED_OK
$STATE,14501,begin surface
$SM_CCo,14520,39.60,0.054,0,0,1133,200.16
$SM_GC,3.11,0.00,0.00,39.60,0.000,0.000,0.054,78,2049,1133,-9.71,-0.31,200.16
$IRIDIUM_FIX,-4432.27,455.16,100908,181812
$TT8_MAMPS,0.026964
$HUMID,64.33
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.60
$XPDR_PINGS,1
$24V_AH,21.9,59.614
$10V_AH,9.7,62.624
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.750,126.900,228.950,39.600,0.000,27.717,41.964,268.853,0.250,0.000,18.616,1821.538,10220.719,364.043,2402.294,234.636,0.000,1278.309,0.000,1972.176,0.000,0.540,0.000
$DEVICE_MAMPS,232.560,66.555,1258.425,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.982,1185.593,650.209,380.604,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353268
$DATA_FILE_SIZE,60232,828
$CAP_FILE_SIZE,131001,0
$CFSIZE,2097086464,2025422848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151115,133928,-4456.163,625.754,40,0.8,40,-24.4